Means for winding and reeling



March 2, 1954 I DANIELS T 2,670,906 MEANS FOR WINDING AND REELING Filed July 19, 1950 3 Sheets-Sheet 1 llb FIG- I.

v INVENTORS HOWARD DANIELS JOHN w, HOGAN ATTORNEYS H. L. DANIELS HAL MEANS FOR WINDING AND REELING March 2, 1954 3 Sheets-Sheet 2 Filed July 19, 1950 INVENTORS HOWARD DANIELS 'JOHN w. HOGAN ATTORNEYS a h 1954 H. L. DANIELS ETAL 2,670,906

MEANS FOR WINDING AND REELING Filed July 19, 1950 3 Sheets-Sheet 3 22 23 24%25 2e lOv IOv High Speed Forward.

FIG. 3a

22 23 24%25 2s lOv -l0v Low Speed Forward FIG. 3b

2la Zlb 22 23 24 25 26 IC 10 Low Speed Reverse FIG. 3c

2|a Zlb 22 23 24 25 26 +10 |O High Speed Reverse FIG 3d.

2la' 2Ib [0 l0 Stop,.Maimaining Tension FIG. 3e

+ IO IO Continuously Variable Speed, 22 I Forward Only FIG. 3f

INVENTQRS 2m 2w HOWARD L. DANIELS JOHN w. HOGAN ATTORNEYS Patented Mar. 2, 1954 UNITED STATES PATENT OFFICE v asfmsoe MEANS FOR wmpmo AND REELING Howard L. Daniels, St. Paul, and John W. Hogan, Minneapolis, Minn., assignors to Engineering Research Associates, Inc.,

poration of Minnesota Application July 19, 1950, Serial No. 174,726

' 18 Claims. (o1. 242 75) This invention relates to an improved means for moving a material mensions. Examples of such material are the following: tape (such as the tape commonly used for the magnetic recording of intelligence, as in a telegraphophone), wire (which, in the case of j might b similarly employed), ribbon, string, thread, photographicfilm (such asmotion picture film), and sheet metal or other material similarly characterized by its geometry. 3

magnetizable wire,

As a particular example by which the invention may be illustrated, forth in detail its application to the winding and reeling of motion picture film, but it is to be understood that this invention is not to be construed as limited thereto, since this material has been selected solely for purposes of illustration.

This invention will be illustrated in terms of a reel-to-reel drive; stated otherwise, the film is here assumed to be passed back and forthbetween two reels. However, the reels may be dispensed with, or may be used but in the form of fiangeless cores, wind spools) and even capstans which would here behave in a substantially similar manner even though a capstan usually unreels from one end as fast as it reels on from the other end.

In general, the invention requires only that means be provided for moving the film.

It is generally recognized that it is desirable in the art of winding and reeling to perform this T operation at a constant linear speed in terms of the material being reeled, and with a, constant I the material being reeled. While tension within this may be but a desirable attribute as far as the winding and reeling itself of some materials is concerned, it frequently happens with other mahaving one dimension 1 which is very large compared to its other two dithis disclosure will set spools (including so-called levelterials that the requirements for constant linear speed and constant tension are mandatory. It is therefore a primary object of this invention to provide such means for winding and reeling at constant speed and at constant tension primarily" to satisfy the requirements of associated apparatus, and only secondarily to enhance the Winding and reeling operation itself.

It is well-known that, in driving an elongated." flexible material (hereinafter referred to as a T motion picture film or simply as a film), from" one reel to another, the effective diameters of the two reels vary continuously and that, therefore, the reels necessarily cannot b driven at.

constant angular velocity (i. e., R. P. M.) if constant linear velocity at constant of the film is I to be achieved. It has therefore usuallybeen the" practice in the past to drive the film'primarily than desired. Furthermore, this method to break and destroy it. These and other objects of the invention will become apparent to those skilled in the art upon a reading of the following specification inconnection with the attached drawings in which:

Arlington, Va., a cortween th constant-speed drive mechanism and the frictionally urged reeling mechanism. This strain frequently sets up additional and generally undesirable side effects, such as chatter which causes the constant speed mechanism or the reels or both to perform considerably less satisfactorily tends to impose undue loads upon the film itself which, in the case of perforated film, generally has the undesirable result of causing the perforations to i elongate and thereby prematurely to end the usefill life of the film.

It is therefore a primary object of this invention to provide a means for driving a flexible member from one reel to another, to do so at substantially constant speed and at substantially constant tension, and furthermore to do so by to the reels themselves and applying power only not directly to the film.

It is a further object of this invention to drive from one reel to another at substantially constant tension a flexible member and at a precisely constant speed and to do so by applying power primarily to the reels with only a relatively small amount of power being applied directly to the film.

It is a further object of this invention to provide a constant-speed, constant-tension reel-toreel drive which It is a further object of this invention to provide a self-regulating arrangement to provide constant speed member.

It is a further object of this invention to prowith the foregoing constantspeed, constant-tension reel-to-reel drive, a desired and to do this in such a manner that the drive will assume its newly commanded speed quickly "and vide, in connection means for varying the speed as smoothly with a minimum of transient effects and without any danger that might impose abrupt loads upon Figure 1 is an illustration of the preferred Such a procedure is rather wasteful shall be smooth in its operation.

and/or strain of a movable such transientsthe film tending fl =3 embodiment of this invention showing the principal and mechanical parts and the manner in which they are organized into a cooperative unit Figure 2 is a schematic diagram of the electronic portion of the preferred embodiment of this invention; and

Figures 3a to 3f are details of a portion of Figure 2 showing the manner in which the electronic equipment is controlled in order to produce the desired movement of the film in the forward or reverse directions.

Referring first to Figure 1, this shows a film l which is to be driven betweenreels Ho and llb. In a typical case, l0 might be a length of 35 mm. motion picture film and reels lid and l lb v might be the conventional 1000 or 2000 foot reels or cores. In the specific embodiment shown in Figure 1, in either direction between reels He and ill) at a constant speed and at a constant tension, the speed and ten ion being under the control of the operator. In passing between reels lid and Ill) film i8, may additionally traverse a work unit 12 (which is not the subject of the present invention) which unit may comprise optical apparatus for projecting pictures or for recording or reproducing sound, or magnetic apparatus or the like. Insofar as the remainder of this invention produces a substantially constant speed and tension, it is also contemplated that the work unit !2 may additionally comprise a constant speed pulley or sprocket 13 by which power may be directly applied to the film ill in relatively small quantities sufiicient to remove the slight remaining irregularities in speed in the remainder of the present invention and thereby achieve a precisely controlled speed without the necessity of applying a large amount of power directly to the film. I

In addition to the work unit, the film it also passes over two small rollers which serve to drive magnetos 23a and 2%. These may be constructed in any of a number of ways, as is wellknown to those skilled in the art, and there are presently a number of such small magnetos commercially available which are quite suitable for this purpose. These magnetos comprise essentially a D. C. generator having a permanentmagnet field and are characterized by the property of delivering a voltage which is proportional to the speed at which magneto is driven, which voltage, furthermore, reverses when the direction of drive is reversed. Figure 1 illustrates a tape path involving two such magnetos.

The above magneios may be generally referred to as the speed sensing portion of the equipment insofar as they provide a voltage whose magnitude and direction is proportional to the magnitude and direction of the film motion. Stated otherwise, they provide an electrical indication of the speed at which the film is actually travelling at each of two locations in the com plete film drive. It is particularly to be noted that these small magnetos do not apply power to the film, and also that they require that the film provide only a negligible amount of power to drive them.

To provide for maintaining a predetermined strain in the member v vice is shown in Figure 1. This tension sensing mechanism comprises essentially an arm 33 pivmeans are provided for passing film l0 in, a tension sensing detension Film I3 is placed upon rolls 33 and 34 in such a manner that decreasing slack (increasing ten sion) in film l0 tends to rotate member 33 counterclockwise about pivot 3!, thereby opposing the force of spring 32. Thus the angular position of member is an indication of the amount of slack (or tension) in film lo. It will be found that the angle of member 30 bears a substantially linear relationship to the differential length of film l0 between the reels, but it is not necessarythat this relationship be strictly linear for the purpose of this invention as long as it is substantially linear in the region near the desired. Also carried by member 30 is a wiper 35 which contacts an arcuate resistor element 33. In practice, 35 and 36 may comprise the essential elements of an ordinary pctentiometer, such as is commonly used in radio receivers for various purposes, which potentiometer may oted about pivot 3i and urged to rotate clockwise about pivot 3! by means of spring 32. This arm also carries idler rolls 33 and 3t, disposed on opposite sides of the pivot. 3i asillustrated.

have a rotary shaft concentric with pivot 3i.

Resistor 36 terminates in terminals 3! and 38, across which a voltage may be applied in a manner hereinafter specified in greater detail. If this be done, then wiper 35 will pick up a voltage which is indicative of the differential length (or tension) in film Hi. There is thus provided a means for sensing the slack or tension in film l0 and providing a convenient electrical output as an indication of this quantity. Stated otherwise, th tension sensing device functions primarily to indicate the differential length of the film between the reels; secondarily, it may indicate the tension in the film, but this is not essential. For example, the spring 32 might be one of the pro-loaded variety yielding substantially constant torque to member 30 irrespective of the angular position thereof; in this case member 3|] assumes a position which is solely a function of the differential length of film it between the two reels Ila and llb.

Reels Ho. and Ill) are driven by motors ila and Mb, respectively, which are discussed below.

Referring now to Figure 2, this shows the electronic equipment, including the previously mentioned speed sensing devices 2911 and 20b and tension senser resistor 36. The latter is connected with its terminals 31 and 38 across a voltage source of convenient magnitude having its center grounded. As a rough magnitude for illustrative purposes only, this might be a 20 v. battery, center grounded, connected as shown. Then wiper 35 will produce no voltage on lead 39 when the differential film length (or film ten sion) is correct, whereas if this length is too short (i. e., if the tension be thought of as too high), then wiper 35 and lead 39 will pick up a positive voltage, whereas if the reverse is true of film N), then wiper 35 and lead 39 will pick up a negative voltage. Voltage divider 40 regulates th amount of voltage picked up by lead 39 for a given discrepancy between the actual film length between reels and that desired or, stated otherwise, potentiometer 40 controls the proportionality factor between the difierential length of film l0 and the voltage impressed upon" lead 33. Lead 39 as shown in Figure 2 connects directly to the control grids of vacuum'tubesfilla and Sim-which tubes will be hereinafter discussed in greater detail. 7

Also connected across the previously mentioned 20 v. center grounded battery (or across some other convenient source of voltage) is' a resistor 21 having a plurality of taps 22, 23,24, 25

and 26. One of these taps (24) represents the electrical center of the resistor and is grounded.

The other taps are'arranged in pair fashion so as to produce voltages of the same magnitude but opposite sign; one pair is here illustrated by 23 and 25 which produce (say) +5 v. on 23 and --5 v. on 25, and another pair is here illustrated by 22 and 2B which produce approximately +10 v. on 22 and -10 v. on 26. Appropriate ones of thes pairs are connected to terminals 2la and 2lb in a manner which will be more fully explained hereinafter in connection with Figure 3. Continuously movable taps may also be provided.

Provision is made for connecting points 2la and 2| b to one set of similar points on resistor 21, as by the indicated dash lines. For the moment it may be said that 2la and 2lb always have impressed upon them reference voltages which are the same in magnitude but the opposite in sign; the magnitude of the voltage being indicative of the speed which the operator desires of the film l and the relative sign being indicative of the direction in which the operator wishes film In to travel. As a specific example, +10 on 2la and l0 on 2lb would command film ID to move at a high speed in a direction hereinafter arbitrarily referred to as forward, whereas -5 v. on 2la and +5 v. on 2 lb will command film H) to move at a slow speed and in the reverse direction.

These terminals are connected directly each to one side of the speed sensing magnetos 20a and 20b, the opposite sides being connected to leads lllla, and Nb which go to the grids of vacuum tubes IBM, and I021), which vacuum tubes are hereinafter described in greater detail. It is to be noted that the connections to magneto 20a are the reverse of the connection of magneto 20b. That is, if magnetos 20a and 2912 are turned in the same direction, the magneto potentials on outgoing lines Nile and llilb is opposite. This is indicated in Figure 2 by the signs and directional arrows at 20a and 20b. At this point, it might be observed that, under steadystate conditions, leads l0l a and llllb each carry a voltage which is proportional to the difference between the desired speed of the film and its actual speed as sensed by the speed sensing magn'etos. The polarities of llll a and llllb are, at all times, opposite.

With th equipment as thus far described, it is apparent that a film moving from reel lla to reel llb at a given speed is generating a predetermined potential on leads lllla and llllb. If connections are made between 2lt-22 and 2lb-26, and if 20a and 20b are each generating say 9 volts, then lead lDl a will be at +109=+1 volt and lead llllb will be at 10+9=- 1 volt. Now if it is assumed that the film speed should increase for some reason, the voltages generated at 20a and 20b will each increase, say to 10 volts. The result will be that lllla will now be at +10-10:0 volts and Hill) will be at 10+10=0 volts. The voltage difference between lllla and llllb is now 0 volts rather than 2 volts, and it is clear that this decrease in voltage may be employed in a negative feed-back sense to selfregulate the speed of the film. Decrease in film speed has the opposite effect.-

It will also become apparent from the following that the potential on lead 39 can b employed in a negative feed-back sense to self-regulate the tension in the film.

The remaining portion of the apparatus of Figure 2 is one system for utilizing the signals previously discussed in a manner to control the driving motors of the reels I la and l lb to provide the self-regulation referred to above. In practice, some sort of amplification between the input and outputs will be required, and it is appropriate at this point to determine the requirements of a suitable amplifier. For input there is available the following: (1) on lead Illla a signal indicating the difference between the desired and the actual speed of film l 0, in the vicinity of reel I la; (2) on lead I Olb a signal bearing the same intelligence as lflla but with respect to the speed in the vincinity of reel Ill) and at all times opposite in sign to l 0 I a and (3) on lead 39 a voltage which is zero for the correct differential film length and positive or negative if this quantity is insufilcient or excessive.

For outputs there must be provided a source of power to each of two driving motors such that each tends to drive the film at the proper speed but so arranged that there is a slight difference between the two power inputs such that the proper length and tension is maintained in the film between reels.

Obviously there are a great many ways to accomplish the necessary amplification and it is not the purpose of this invention to set forth any one method to the exclusion of all others. However," the method illustrated in Figure 2 has been reduced to actual practice and has been given rigorous testing, during which the system behaved extremely well; for this reason, the embodiment described in connection with Figure 2 may be considered a preferred form for the exercise of this invention.

The apparatus in Figure 2 comprises two 3- stage push-pull amplifiers which are coupled in such a manner as to permit the amplification of D. C. signals. Of the three stages involved, the first two comprise a quite conventional directcoupled push-pull vacuum tube amplifier which is believed to be sufficiently well-known that it need not be described in detail herein. The third stage involves the use of a device known as a compensated armature reaction excited dynamo-electric machine, and which is popularly called an amplidyne. Briefly, this device is a power amplifier capable of delivering quite large amounts of power output from quite small amounts of power input; it is typically a very specialized type of D. C. generator having a response very sensitive to changes in the excitation field voltage. 'Such amplidynes' derive their power from an external rotating me chanical source and hence it follows that the amplidyne generators shown in Figure 2 must be rotated constantly by some means (such as by electrical motors) which are not shown on the diagram. The amplidyne also lends itself nicely to the purposes of this invention in that it may be so connected that it may be provided with two input circuits for push-pull connection to the pre-' ceding vacuum-tube stages, thus providing the well-known benefits of push-pull operation, such as harmonic elimination and the like.

Proceeding now with an explanation in greater detail of the preferred type amplifier, two units are shown in Figure 2, comprising two identical channels which are similarly labeled except for the characters a and b; hence it is necessary to describe only one unit. Vacuum tubes 50a and IBM effectively constitute a push-pull circuit by virtue of the common cathode resistor l 56a. The power gain from a single stage being normally insufiicient, it is necessary to provide one more stage comprising two tubes 5la and "Ba having a. common cathode resistor l5la. The first and second'stages are direct-coupled by means of resisters 152a, l53a, [5411, [575a, l55a and Him, the last named being provided with an additional tap for a purpose hereinafter to be explained in greater detail. The plates of the last tubes m and [03a are connected by the amplidyne exciter windings 52a and "14a to a common source of plate voltage 53 via the normally closed switch 54. This provides the excitation for the amplidye shown schematically at c, the output of which is directly connected to the armature of drive motor 41a of reel I la. The field of lilo is directly connected to a source of direct current. The windings 52a and [Ma are connected in opposition so balanced plate currents cancel the am-- plidyne field.

The lower channel is identical except for the subscript b.

It is important that the connections be made in the proper manner so that the apparatus will behave as desired. In order that this may be accomplished in accordance with this invention, and in order that those skilled in the art may exercise this invention without the necessity for dealing with conventions of sign which are not universally accepted at this time, the following is given by way of explanation: With leads 2m and 21b grounded, and the film removed, the tension sensing device of Figure 1 should be moved clockwise (indicative of excessive slack or insufiicient tension in the film), in which case the reels Na and Nb should move opposite to each other in the direction necessary to decrease the slack or to increas the "tension; similarly with the tension sensing element 38 rdtated counterclockwise (which is the condition indicative of insufficient slack or excessive tension) the reels I la and Nb should tend to rotate to pay out film towards each other (which is in the manner necessary to increase slack or to relieve tension). If it is found that this is not the case, then the film motor which is turning incorrectly (or both if both are turning incorrectly) should have its armature connections to its associated 'amplidyne output interchanged, after which it will be found that correct operation is assured. Next, lead 39 should be grounded. The magneto 2011 should now be given a spin in the direction it would move if reel Ila were paying out film; this should cause reel I la actually to move in the opposite direction. If this is not the case, the input and output of 29a should be reversed. The process should be repeated with respect to magneto 20b and reel lib. Stated otherwise, the generation of proper voltages in magnetos 20a and 28b should produce opposite rotation of reels 9 la and lib in a direction tending to increase the tension in the film.

From the foregoing, it will be understood that when leads 39 and lllia are at ground potential, the currents in windings 52a and [04a are equal and no amplidyne output exists. And it follows that the voltage generated in magneto 29:: must so move the grid of tube 103a to change the current in winding 194a so that the amplidyne output rotates motor Ma opposite to the rotation of magneto 2ila.

Channel b is understood from the foregoing analysis of channel a.

After the above tests have been completed, it will be found that Zea and 2812 are oppositely connected as to polarity when rotated in the same direction. This condition is schematically illustrated in Figure 2.

Probably it will also be noticed that there are U some asymmetriesin the equipment due to unavoidable discrepancies between manufactured articles. For example, it may be found that the film reels each have a tendency to creep a little even though zero speed is commanded by'the grounding of leads Ma and 21?); if this is the case, the appropriate reel can be balanced to a stop by adjusting a balancing control such as 56a or 5512 of Figure 2, whereby the windings 52 and 104 are placed in complete opposition. Likewise, it may be found that the tension control tends to dominate the speed control, mak-' ing for somewhat erratic operation; this in turn can be corrected by diminishing the setting of potentiometer 49 previously mentioned in connection with the tension sensing mechanism.

One reason why the apparatus of Figure 2 represents a preferred embodiment of this invention is that it has three amplification stages and therefore provides a good means for inverse feed-back without going all the way back to the original or buffer stage. Inverse feed-back is desirable and is a standard well-known means to prevent high frequency oscillations which might well arise in an organization of this complexity. It is recognized that somewhat simpler circuits, might serve equally well in the practice of this invention, but the present arrangement is to be preferred, particularly if one desires to practice this invention in the pioneering of controls which involve substantially new operating requirements such as wide ranges of speed requirements and film reel diameters. One suggested means for accomplishing inverse feed-back is shown in Figure 2. This comprises a potentiometer 105a connected across the output of amplidyne 55a, the output of which is capaoitively coupled by condenser 456a to the tap on resistor 15111. This serves to feed back a portion of the A. 0. component only of amplidyne 55a into the grid of Eia, thereby effectively cancelling out fortuitous oscillations in the output of 55a. The above discussion of inverse feed-back is not to be confused with the broader concept of self-regulation negative feed-back between the drive motors and the magnetos and tension senser. The term negative rather than inverse is purposely included in the appended claims to refer to the latter.

Figure 3 iliustrates a preferred method by which the proper (equal but opposite) potentials can be impressed upon leads 21a and 2). Views 3a through 3d illustrate a typical case in which it is desired that the film be driven at either high or low speed and in either of two directions, one of which is arbitrarily called forward and the other of which is arbitrarily called reverse.

From these drawings, it is apparent that the voltages on 21a and 2) for the above conditions'might be tabulated substantially as follows:

21a 21!) Condition +10 -l0 High Speed Forward. +5 5 Low Speed Forward. -5 +5 Low Speed Reverse.

l0 +10 High Speed Reverse.

9 of Be should be made and, additionally, switch 54 of Figure 2 should be opened; this is an effective measure for handling emergency conditions which require coasting to a stop to prevent film breakage.

Figure 3 shows the type of control which would be required in order to achieve a continuously variable speed control and this illustration has been simplified by assuming that it is here required only to operate in one direction. Persons skilled in the art will have no difficulty in understanding how 3 might be modified for continuously variable speed control in either direction in view of the teachings of 3a3e.

An additional feature useful in the ractice of this invention is the organization of the four diodes 460a, I bid, I 60?), I Bib, connected as shown in Figure 2. These serve to limit the excursions of the leads lfli a and NH b to not more than about one volt (plus or minus), thereby precluding overloading of the amplifiers under transient conditions. Such an overload might otherwise arise, for example, immediately after commanding a new speed by a manipulation oi. the connections of Figure 3. Under such transient conditions the film might break, but the diodes serve to keep the incoming speed-error signal within limits (about plus or minus one volt) which are compatible with the signals which the potentiometer 30 is capable of delivering.

From the foregoing description, it will be apparent that a winding system is provided in which it is convenient to regard each reel of the system with its magnets separately functioning device. That is, each amplidyne attempts to drive its moving means at a constant speed, which speed is in the illustrated embodiment that whereat the magneto voltage cancels the reference voltages. It will be understood that opposite polarities are not necessary, but could be otherwise with other circuit connections. The two speed regulating devices are linked only by the length sensing (or tension sensing) device, which attempts to increase the lower speed and decrease the higher speed to compel the reels to remain in step and to also maintain constant length and tension between the reels.

It will be understood that the foregoing de-' tailed illustration has been made onlyfor purposes of a description of our invention. Many other embodiments of our invention will occur to others, and therefore, we intend that the scope of the invention be determined from the appended claims.

We claim:

1. In apparatus for moving an elongated memher at predetermined speeds under predetermined tension, at least two spaced means for moving the member, the moving means being adapted to move the member in either of two directions at varying speeds, means for sensing the tension in the member between the moving means, the tension sensing means having control connection means to each of the moving means, the said control means being arranged to supply a first partial control input to tend to cause movement of the respective moving means in opposite directions to establish tension in the member, the tension control means further comprising means for self-regulating the tension in the member, speed sensing means positioned in juxtaposition to the member at either side of the tension sensing means and arranged to detect and amplidyne as a the speed of the member at said locations, each speed sensing means, also having control connection means to one of the moving means and arranged to supply a second partial control input to tend to cause movement of the moving means in like directions to move the member in a given direction, the speed control connection means further comprising means for self-regulating the speed of the associated moving means, the moving means being arranged to respond to the control input through the tension connection means and the speed connection means according to the division of partial inputs from each of said control sources.

2. Apparatus as in claim 1 in which the tension control connection means and the speed control connection means to each moving means are combined in a push-pull amplification channel.

3. Apparatus as in claim 2 in which the amplification channel comprises an armature reaction excited dynamo-electric machine having control fields connected in push-pull relationship.

4. Apparatus as in claim 1 in which the speed control means comprises means for determining a reference speed and reference direction of motion of the associated member moving means.

5. Apparatus as in claim 4 in which each of the speed detecting means is a voltage generator having an input and output, and wherein the inputs are adapted for connection to sources of reference potentials for providing different speeds and direction of movement of the member.

6. In apparatus for moving an elongated flexible member at a predetermined speed under a predetermined tension, spaced motor driven means for moving the member, voltage generating speed sensing means positioned in operative relation to the member along the member, a resiliently biased tension sensing device located between the motor driven means, the tension sensing device being operated by changes in the length of the member between the moving means and comprising means for providing a voltage related to the length of the member between the moving means, amplifier means C011? nected in a path between the tension voltage source and each of the motor moving means, the amplifier means being connected to the motor means to tend to rotate the moving means in opposite. directions to establish tension in the member, the path "which includes the amplifier means also providing self-regulation of the tension, each of the voltage generating speed sensing means being connected to control oneof the motor moving means to move the member in a predetermined direction, the last mentioned connection being through amplifier means, and the last mentioned amplifier means providing phase reversal, whereby the speed of each motor moving means is self-regulated by the voltage generated by the speed sensing devices.

7. Apparatus as in claim 6 wherein separate amplification channels extend from the tension sensing voltage source to each motor moving means.

8. Apparatus as in claim 7 wherein each of the said separate tension amplifying channels is combined with the speed sensing amplification channel to the respective motor moving means in push-pull relationship.

9. Apparatus as in claim 6 wherein the speed sensing devices are electrically connected to operate at different reference potentials, whereby more power will be initially applied to one motor means than to the other, whereby the elongated member will come up to a predetermined speed in a predetermined direction.

10. Apparatus as in claim 9 wherein the speed sensing devices are connected to generate op posed voltages, whereby changes in the speed of the member causes the motor means to tend to rotate oppositely to self-regulate the speed.

11. Apparatus as in claim 6 wherein the amplification means includes a stage comprising an amplidyne.

12. In apparatus for reversibly moving a flexible elongated member at a predetermined speed under predetermined internal strain, two spaced motor driven member moving means, a strain sensing device in the path of the elongated member between the spaced moving means, the strain sensing device being adapted to be operated by the member, the strain sensing device being resiliently biased and adapted to produce a voltage which is a function of the length of the member between the moving means, speed sensing means also positioned to be operated by the member, the speed sensing means being arranged to produce two voltages which are a function of the speed of the member, an amplification channel connected between the strain voltage source and each motor drive, the motors being connected to their respective strain amplification channels to provide balanced opposing torques in the motors to produce strain in the member, the arrangement also providing self-regulation of the strain, separate amplification channels connected between each source of speed voltage and one of the motor drives, the connection of the respective motor drives to the last mentioned amplifier channels being arranged to tend to produce torques in the drives to move the member in a predetermined direction, means for placing the two speed voltage sources at reference potentials, and means including the speed amplification channels to detect changes in the speed voltages, whereby the motor drives will move the member in a predetermined direction under predetermined strain, the amplification channels between the two voltage sources and the connected motor drives including means providing phase reversal, whereby the speed is self-regulated.

13. Apparatus as in claim 12 wherein the amplification channels connected to the respective 4 motor drives are arranged in push-pull relation.

14. Apparatus for moving an elongated member comprising, two spaced member moving means, means for sensing the speed of the member, the speed sensing means including means adapted to be operated by the member for providing two voltage sources, each voltage source having an input and output side, which voltage generator sources reverse polarity when the direction of movement of the member is reversed, and which voltage sources are a function of the speed of the member, the output side of each of the voltage sources being connected to control one of the moving means, the connections including phase reversal to provide self-regulation of the speed of the member, the connections also being such that the member moving means tend to introduce 1 tension in the member, and means to connect the inputs of the voltage sources to reference potentials, whereby the voltage connected to control the said moving means causes the moving means to move the member in a predetermined direction.

15. Apparatus as in claim 14, wherein means are provided for reversing the direction of movement of the member, said means comprising means for interchanging the connection of the input sides of the voltage sources with the said reference potentials.

16. Apparatus as in claim 14, wherein means are provided for controlling the speed of the member in a predetermined direction, said means including means for changing the potential between the two reference potentials.

17. Apparatus as in claim 14, wherein the voltage sources are arranged to be of opposite polarity from input to output sides when operated by the moving member, whereby under incremental changes in speed of the moving member power is removed from one moving means and added to the other moving means to self-regulate the speed of the member.

18. Apparatus as in claim 14 and further including spring biased means to sense the length of the member between the spaced moving means, the length sensing means being arranged to produce a voltage which is a function of the length, the length voltage being connected for superposition on the speed voltages to further control the member moving means to maintain a predetermined tension in the member.

HOWARD L. DANIELS. JOHN W. HOGAN.

Puchlowski June 20, 1950 

